CN102765381A - Rotatable driver interface for trailer backup assist - Google Patents
Rotatable driver interface for trailer backup assist Download PDFInfo
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- CN102765381A CN102765381A CN2012100671596A CN201210067159A CN102765381A CN 102765381 A CN102765381 A CN 102765381A CN 2012100671596 A CN2012100671596 A CN 2012100671596A CN 201210067159 A CN201210067159 A CN 201210067159A CN 102765381 A CN102765381 A CN 102765381A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
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- B60K35/10—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
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- B60K2360/126—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Trailers, e.g. full trailers, caravans
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/22—Articulation angle, e.g. between tractor and trailer
Abstract
A trailer backup steering input apparatus is coupled to a vehicle. The trailer backup steering input apparatus comprises a rotatable control element (e.g., a knob) and a rotatable control element movement sensing device. The rotatable control element biased to an at-rest position between opposing rotational ranges of motion. The rotatable control element movement sensing device is coupled to the rotatable control element for sensing movement of the rotatable control element. The rotatable control element movement sensing device outputs a signal generated as a function of an amount of rotation of the rotatable control element with respect to the at-rest position, a rate movement of the rotatable control element, and/or a direction of movement of the rotatable control element with respect to the at-rest position.
Description
Technical field
The present invention relates generally to the ancillary technique that turns in the vehicle, and more specifically, relates to the trailer reversing aid system at the rotatable chaufeur interface that comprises the radius of curvature that is used for the control trailer path.
Background technology
The reversing that is connected with the vehicle of trailer as everyone knows all is the task of difficulty for many chaufeurs.This is especially true for the chaufeur that does not have the trailer reversing training, and for example those frequently do not drive the chaufeur (for example, renting trailer, the private trailer that does not frequently use etc.) that connects trailer.A reason of this difficulty is that the vehicle that reversing is connected with trailer requires to brake before to stablize the combination of vehicle-trailer in generation bending situation (jack-knife condition) with opposite the turning to and/or require of normal direction of rotation when moveing backward the vehicle that is not connected trailer.Thereby the Another reason of this difficulty causes trailer to break away from desirable path for the little error that when reversing is connected with the vehicle of trailer, turns to is exaggerated.
For driver assistance person turns to the vehicle that is connected with trailer, the trailer reversing aid system need be understood driver intention.A common supposition of known trailer reversing aid system be connected with the vehicle driver of trailer hope straight line car-backing and system or hint or supposed with showing clearly be used for vehicle-trailer combination be the path of zero curvature.Unfortunately the reversing trailer in most cases relates to crooked path in the real world, therefore, supposes the zero curvature path use of restriction system significantly.Some known system supposition can be known the path from map or path planner, and it can cause and in this type systematic, comprise very complicated man-machine interface (HMI) and vehicle/trailer position affirmation.
Therefore, the reversing method that simple man-machine interface is provided and solves the shortcoming of known trailer reversing aid system is favourable, expectation and useful.
Summary of the invention
The embodiment of theme of the present invention relates to the trailer reversing aid system, the curvature (that is carriage track) in the path of the trailer of its servo steering system through vehicle (for example electric boosting steering system (EPAS)) control linkage to vehicle.Like this, during operation trailer reversing aid system, the vehicle driver can not make via the bearing circle of vehicle and turn to input, because this trailer reversing aid system has controlled servo steering system and this servo steering system directly links to each other with bearing circle usually.Advantageously, embodiments of the invention provide Spin Control element (for example, knob) to be used for the path curvature of control trailer when just at the towing astern car.The left-hand revolution of Spin Control element (putting left with respect to vehicle driver institute seat) instruction trailer is turned to left; The clickwise of Spin Control element (putting to the right with respect to vehicle driver institute seat) instruction trailer is turned to the right, and this Spin Control element is positioned at stop position (at rest position) and makes trailer by along the straight line car-backing from current trailer working direction.Like this, the chaufeur input that when moveing backward trailer, is used for the control trailer path is made through the Spin Control element fully rather than is made at the steering wheel for vehicle place.Correspondingly, adopt the trailer direction information in the path of confirming by chaufeur during theme embodiment of the present invention provides user friendly and simple solution moveing backward with (when vehicle configuration has such chaufeur reversing aid system).
In an embodiment of theme of the present invention, method comprises a plurality of operations.Executable operations is used for receiving the trailer angle information from the trailer angle detection device with the vehicle that is connected to the trailer on it.This trailer angle information produces according to the angular shift between vehicle and the trailer.Executable operations is used for turning to input media to receive the trailer direction information from the trailer reversing of vehicle.This trailer reversing turns to input media to comprise and biases to the Spin Control input media at the relative stop position between the scope that rotatablely moves.From the moving direction of the mobility of the rotation amount of the relative stop position of Spin Control input media, rotating control assembly, the relative stop position of Spin Control input media at least one obtained this trailer direction information.Executable operations is used for when just through this trailer of vehicle backing, utilizing the power steering system of Vehicular turn information Control vehicle.This Vehicular turn information produces according to trailer angle information and trailer direction information.
In another embodiment of theme of the present invention, the trailer reversing turns to input media to be connected to vehicle.This trailer reversing turns to input media to comprise knob and knob moving sensing device.This knob biases to the stop position that rotatablely moves between the scope relative.This knob moving sensing device is connected to knob and is used for moving of sensing knob.The signal that the output of this knob moving sensing device produces with respect to the moving direction of stop position according to rotation amount, knob mobility and/or the knob of the relative stop position of knob.
In another embodiment of theme of the present invention, vehicle comprises that trailer angle detection device, trailer reversing turn to input media and servo steering system.The configuration of this trailer angle detection device is used to export according to vehicle and is connected to the signal that the angle between the trailer of vehicle produces.This trailer reversing turns to input media to comprise knob and the knob moving sensing device that moves that is used for the sensing knob that is connected to knob.This knob biases to the relative stop position that rotatablely moves between the scope.The signal that this rotation moving sensing device output produces with respect to the moving direction of stop position according to the mobility of the rotation amount of the relative stop position of Spin Control input media, Spin Control input media and/or Spin Control input media.Servo steering system is connected to trailer angle detection device and the trailer reversing turns to input media.Servo steering system comprises that configuration is used for turning to the input media signal to produce the control module structure of power steering system control information according to trailer angle detection device signal and reversing.
These of theme of the present invention will become obvious from following further reading specification sheets, relevant drawings and claims with other purposes, embodiment, advantage and/or difference.
Description of drawings
Fig. 1 has shown that configuration is used to carry out trailer reversing additional function vehicle among the embodiment according to the inventive subject matter;
Fig. 2 has shown that the trailer reversing of discussing with reference to figure 1 turns to the preferred embodiment of input media;
Fig. 3 has shown the trailer reversing sequence example of using the trailer reversing of discussing with reference to figure 2 to turn to input media to implement;
Fig. 4 has shown that embodiment according to the inventive subject matter implements the method for trailer reversing additional function.
The specific embodiment
With reference to figure 1, shown that configuration according to the inventive subject matter is used to carry out the embodiment of the vehicle 100 of trailer reversing additional function.The curvature of the driving path of the trailer 110 of trailer reversing aid system 105 control linkages to the vehicle 100 of vehicle 100.Such control is through the servo steering system 115 of vehicle 100 and the mutual completion of trailer reversing aid system 105.The operating period of the trailer reversing aid system 105 when reversing vehicle 100 time; The chaufeur of vehicle 100 can s/he can via the bearing circle of vehicle 100 make turn to aspect be restricted; Because trailer reversing aid system 105 control servo steering systems 115 and servo steering system 115 are connected directly to bearing circle (that is, the bearing circle of vehicle 100 is along with the wheel flutter of vehicle 100 moves).To go through as follows, and utilize the man-machine interface (HMI) (for example knob) of reversing aid system 105 to be used to instruct the variation of path curvature of trailer 110, thereby make this instruction not need from making at the bearing circle of vehicle 100.
Trailer reversing aid system 105 comprises that trailer reversing aux. controls module 120, trailer reversing turn to input media 125, and articulate angle (hitch angle) detector 130.This trailer reversing aux. controls module 120 is connected to the trailer reversing and turns to input media 125 and articulate angle detector 130 to allow the information communication between them.At this, disclosed the trailer reversing and turned to input media wired or wireless mode to be connected to trailer reversing aux. controls module.The servo-steering control module 135 that trailer reversing aid system control module 120 is connected to servo steering system 115 is used to allow the information communication between them.The deflection angle detector 140 of servo steering system 115 is connected to servo-steering control module 135 and is used for to it information being provided.The trailer reversing aid system also is connected to brake system control module 145 and powertrain control module 150 is used to allow the information communication between them.Jointly, this trailer reversing aid system 105, servo steering system 115, brake system control module 145, powertrain control module 150 have defined the trailer reversing assist architecture of an embodiment according to the inventive subject matter.
120 configurations of this trailer reversing aux. controls module be used for actuating logic (for example instruction) be used for from the trailer reversing turn to input media 125, articulate angle detector 130, servo-steering aux. controls module 135, brake system control module 145 and powertrain control module 150 reception information.This trailer reversing aux. controls module 120 (for example, its trailer curvature algorithms) according to turn to input media 125 from the trailer reversing, articulate angle detector 130, all or partial information of the reception of servo-steering control module 135, brake system control module 145 and powertrain control module 150 produce Vehicular turn information.After this, provide Vehicular turn information to servo-steering control module 135 to be used for turning to through servo steering system 115 effect vehicles 100 to realize the instruction driving path of trailer 110.
The trailer reversing turns to input media 125 that information to the trailer aux. controls module 120 (being the trailer direction information) of the command path of definition trailer 110 is provided.The trailer direction information can comprise about the information of the instruction variation (for example the path radius of curvature changes) of driving path and about the information of trailer along the indication of being gone by the definite path (that is, along being roughly straight driving path) of trailer radial center axis.To go through as follows; The trailer reversing turns to input media 125 to preferably include chaufeur and trailer reversing input media 125 mutual trailer handling maneuvers with the instruction expectation (for example, the expectation of instruction trailer driving path radius changes and/or instructs trailer to go along the straight driving path of being confirmed by the radial center axis of trailer that is roughly) that the Spin Control input media is used to allow vehicle 100.In a preferred embodiment, this Spin Control input media is the knob around the rotation axis rotation on the end face/surface that extends through this knob.In other embodiments, this Spin Control input media is the knob that rotates around the rotation axis that extend on the end face that is in substantially parallel relationship to this knob/surface.
Some vehicles (for example those have active front turn to) have the servo steering system structure, and it allows bearing circle can break away from the moving of wheel flutter of this vehicle.Correspondingly; This bearing circle can be independent of the mode of the servo steering system control wheel flutter of vehicle and rotate (for example, as provide to the Vehicular turn information command of servo steering system control module through the trailer reversing aid system control module from an embodiment configuration of the Sexual Themes according to the present invention).Like this, can optionally separate with wheel flutter in the vehicle with the type that allows its independent operation at these bearing circle, rotation that can the direction of passage dish provides the trailer direction information of the trailer reversing aid system of the Sexual Themes according to the present invention.Correspondingly, be disclosed as at this, in some embodiment of Sexual Themes of the present invention, under the background of this invention theme, this bearing circle is the embodiment that turns to control input device.In these embodiment, this bearing circle is for placing (for example, the device through optionally engaging/can activating) relative stop position between the scope of rotatablely moving.
With trailer 110 articulate angle exploring block 155 co-operate articulate angle detector 130, information (for example, articulating the angle) to the trailer reversing aux. controls module 120 about the angle between vehicle 100 and the trailer 110 is provided.In a preferred embodiment; This articulates angle detector 130 and is the device based on pick up camera; For example, the existing rearview camera of vehicle 100 is when trailer 110 is just moveed backward through vehicle 100; This camera shooting (promptly visually keeping watch on) is connected to the target (that is, articulating angle exploring block 155) of trailer 110.Preferably, still not necessarily, this articulates angle exploring block 155 and is special-purpose member (surface that for example, is connected to/is integrated into trailer 110 is used for through articulating the element that has a definite purpose of angle detector 130 identifications).Alternately, this articulate angle detector 130 can be for the device on the hanging part that physically is installed in vehicle 100 and/or be used for confirming the cooperation hanging member of the trailer 110 of the angle between the line of centers longitudinal axis of vehicle 100 and trailer 110.
This servo-steering control module 135 provides information to the trailer reversing aux. controls module 120 of the position of rotation (for example, deflection angle) of the wheel flutter of position of rotation (for example, angle) and/or vehicle 100 about steering wheel angle.In some embodiment of Sexual Themes of the present invention, this trailer reversing aux. controls module 120 can be the integrated component of servo steering system 115.For example, this servo-steering control module 135 can comprise trailer reversing aided algorithm be used for according to turn to input media 125 from the trailer reversing, articulate angle detector 130, all or partial information of the reception of servo-steering control module 135, brake system control module 145 and powertrain control module 150 produce Vehicular turn information.
This brake system control module 145 provides information to the trailer reversing aux. controls module 120 about car speed.Can be from the car speed information as the single wheel velocity of keeping watch on through brake system control module 145 is confirmed.Under some situations, can also use single wheel velocity to confirm the Vehicular yaw cireular frequency and can provide such yaw velocity to trailer reversing aux. controls module 120 to be used for confirming Vehicular turn information.In certain embodiments, this trailer reversing aux. controls module 120 can provide car brakeing information to brake system control module 145 to be used to allow the braking of trailer reversing aux. controls module 120 control vehicle 100 during trailer 110 reversings.For example, use trailer reversing aux. controls module 120 speed can reduce potential unacceptable trailer reversing situation with adjustment vehicle 100 during the reversing of trailer 110.The example of unacceptable trailer reversing situation includes but not limited to, overspeed of vehicle situation, the trailer bending situation the angle displacement restriction of vehicle 100 and trailer 110 confirmed like green phase etc.Disclosed reversing aux. controls module 120 at this and can issue signal corresponding to the prompting of the unacceptable trailer reversing situation of reality, that be about to carry out and/or expection.
Powertrain control module 150 and trailer reversing aux. controls module 120 are used for the speed and the acceleration/accel of adjustment vehicle 100 during the reversing of trailer 110 alternately.As above mentioned, the speed of adjustment vehicle 100 is necessary for the potential unacceptable trailer reversing situation (for example bending) of restriction.Be similar to high-revolving consideration, because they relate to unacceptable trailer reversing situation, high acceleration also can cause this unacceptable trailer reversing situation.
With reference now to Fig. 2,, shown the preferred embodiment that turns to input media 125 with reference to the trailer reversing of Fig. 1 discussion.The Spin Control element of knob 170 forms is connected to moving sensing device 175.In a preferred embodiment, this rotary control knob 170 and moving sensing device 175 can be integrated the entering meter panel of motor vehicle like what show, as the part of gear shift indicator panel.This knob 170 places the stop position P (AR) between (for example, through spring reset) relative scope that rotatablely moves (R (R), R (L)).The first relative rotary motion scope R (R) equals second in the relative scope that rotatablely moves (R (L), R (R)) substantially.For the sense of touch indication of rotation amount that knob 170 is provided, can increase (for example, non-linear) with respect to the rotation amount of stop position (P (AR)) according to knob 170 towards the power of stop position (P (AR)) biasing knob 170.In addition, the configurable hill holder that indicating positions arranged of this knob 170 is so that chaufeur can be felt stop position (P (AR)) and feel and arrive the relative scope that rotatablely moves R (L), the end points of R (R) (for example soft block) clearly.
Moving sensing device 175 configuration is used in the trailer reversing auxiliary input device 125 that moving of sensing knob 170 and output corresponding signal (that is moving sensing device signal) show to Fig. 1.This moving sensing device signal produces with respect to the rotation amount of stop position (P (AR)), the mobility of knob 170 and/or the moving direction of knob 170 relative stop positions (P (AR)) according to knob 170.As follows with discussed in detail; The stop position of knob 170 corresponding to indication vehicle 100 when knob 170 returns stop position should be turned to make trailer 110 along as the moving sensing device signal that is roughly straight path reversing confirmed of line of centers longitudinal axis through trailer 110, and the maximum cw of knob 170 and conter clockwise position (being the limit of the relative scope that rotatablely moves) each can avoid this Vehicular turn information to cause the moving sensing device signal of the tightest radius of curvature (promptly the most sharp-pointed track) of driving path of the trailer 110 of bending situation corresponding to each self-indication.In this, this stop position P (AR) is with respect to the relative scope that rotatablely moves R (R), the zero curvature location of instruction of R (L).Can in each of the relative rotary motion scope (P (L), P (R)) of knob 170, change (for example non-linearly) at this ratio that has disclosed instruction curvature (the for example radius of trailer track) and the cooresponding rotation amount of knob in the path of trailer.Also disclosing this ratio here can be for car speed, how much of tracks, how much on vehicle, articulate how much and/or the function of trailer load.
Make at the bearing circle place that the use of knob 170 makes trailer turn to input to break away from vehicle 100.In use, along with the chaufeur of vehicle 100 reversing trailer 110, chaufeur can turning knob 170 with commander's trailer 110 with the driving path of following and return knob 170 to stop position (P (AR)) and be used for making along straight line car-backing trailer 110.Correspondingly; Bearing circle is kept among the embodiment of trailer reversing aid system of the wheel flutter that physically is connected to vehicle during bonded assembly trailer reversing; The Spin Control element (for example, knob 170) of Sexual Themes configuration provides simple and user-friendly method to allow the vehicle driver to import the trailer steering order according to the present invention.
Can omit the device that is used to be biased to the relative stop position between the scope that rotatablely moves at this Spin Control input media (for example, this knob 170 and related moving sensing device) that has disclosed the embodiment configuration of Sexual Themes according to the present invention.Lack the current position of rotation that this biasing allows to keep the Spin Control input media and manually moved to diverse location until the Spin Control input media.Preferably, but necessarily, when omitting this biasing, generator is used to indicate the Spin Control input media to be positioned at the zero curvature location of instruction (for example, be among other embodiment that setover with the Spin Control input media the identical position of stop position).The example that indication Spin Control input media is positioned at the device of the zero curvature location of instruction includes but not limited to, visual beacon, the indication Spin Control input media that the hill holder that the Spin Control input media engages when in the zero curvature location of instruction, indication Spin Control input media are in the zero curvature location of instruction is in or is in or near the auditory message of the zero curvature location of instruction etc. near active vibration signal, the indication Spin Control input media of the zero curvature location of instruction.
Can dispose non-rotatable control input device (being non-Spin Control input media) at this embodiment that has also disclosed theme of the present invention.The Spin Control input media that is similar to the configuration of according to the present invention Sexual Themes (for example; Knob 170 and related moving sensing device), so non-Spin Control input media configuration is used for optionally providing signal to make trailer follow and is roughly straight driving path section and is used for optionally providing signal to make trailer follow the driving path section that is roughly bending.The example of this non-Spin Control input media includes but not limited to; A plurality of depressible buttons (for example; Bending left, bending to the right and keep straight on), chaufeur is described or import the touch-screen of the routing instruction that goes, along the convertible button that is used to allow chaufeur input driving instruction of axis etc.
The trailer reversing turns to input media 125 can dispose the chaufeur that is used to provide various feedback information to vehicle 100.The example of the denotable situation of this feedback information includes but not limited to; The state of trailer reversing aid system 105 (for example; Activate, await orders (for example when vehicle go forward), fault to reduce the trailer angle, stop using etc.); Arrived curvature restriction (that is the maximum of the driving path of trailer 110 instruction curvature) etc.For this reason, input media 125 is configurable to be used for taking place a kind of of multiple situation if trailer reversing turns to, and then provides to touch the feedback signal vibrations of knob 170 (for example, through) as caution.This situation includes but not limited to that trailer 110 runs into the bending problem, trailer reversing aid system 105 has had the other system of fault, trailer reversing aid system 105 or vehicle 100 to predict that collision, the trailer backing system 105 in the current driving path of trailer 110 have limited the instruction curvature of trailer driving path (because the hypervelocity of vehicle 100 or excessively acceleration) etc.Further, trailer reversing turn to input media 125 can use illumination (for example, LED180) and/or audible signal output (for example sense of hearing output unit 185) some feedback informations prompting/caution of situation (the for example unacceptable trailer move backward) are provided.
With reference now to Fig. 2 and 3,, shown and when reversing comprises the trailer (trailer 110 that in Fig. 1, shows) of vehicle (i.e. vehicle in Fig. 1 and Fig. 2 100), used the trailer reversing to turn to input media 125 to be used to command the example of the driving path (POT) of trailer.When preparing reversing trailer 110, (pull-thru path, PTP) the forward driving vehicle is to place the first car backing position B1 with vehicle 100 and trailer 110 along through path for the chaufeur of vehicle 100.At the first car backing position B1, vehicle 100 and trailer 110 for each other vertically alignment make the axis L1 of longitudinal center of vehicle 100 align with the axis L2 of longitudinal center of trailer 110 (for example, parallel or coincidence).Disclosed this longitudinal axes L 1 that when moveing backward trailer, occurs at this, the alignment of L2 is not that the trailer reversing aid system of operation Sexual Themes configuration according to the present invention is required.
After activating trailer reversing aid system 105 (for example, before the straight-through step, afterwards or during), chaufeur begins through reversing vehicle 100 from first car backing position B1 reversing trailer 110.When beginning to move backward trailer 110; As long as the trailer reversing turns to the knob 170 of input media 125 to maintain stop position P (AR), trailer reversing aid system 105 steered vehicle 100 on demand makes trailer 110 along the straight driving path reversing of confirming like the axis L2 of longitudinal center through trailer 110 that is roughly.When trailer arrived the second car backing position B2, chaufeur rotary knob 170 was turned into right side (that is knob position R (R)) with instruction trailer 110.Correspondingly, trailer reversing aid system 105 can steered vehicles 100 so that trailer 110 according to knob 170 with respect to the amount of stop position R (AR) rotation, the mobility of knob 170, and/or knob 170 with respect to the mobile directional steering of stop position R (AR) to right.Similarly, to the left side, trailer 110 can be diverted to a left side by instruction through rotary knob 170.When trailer arrives car backing position B3, chaufeur allow knob 170 to return stop position R (AR) thus make when knob 170 returns stop position R (AR) trailer reversing aid system 105 on demand steered vehicle 100 make trailer 110 by along as the straight driving path that is roughly confirmed of the axis L2 of longitudinal center through trailer 110 move backward.After this, trailer reversing aid system 105 on demand steered vehicle make trailer 110 be roughly the reversing of straight path to the 4th car backing position B4 along this.Like this, the arcuate section of the driving path POT of the indication of the rotation through knob 170 trailer 110 and driving path POT is indicated in the location of the central longitudinal axis L2 of trailer when being in/returning stop position P (AR) when knob 170 craspedodrome part.
Fig. 4 has shown the method 200 that is used to carry out trailer reversing additional function among the embodiment according to the inventive subject matter.In a preferred embodiment, the method 200 that is used for carrying out trailer reversing additional function can be carried out through using the above-mentioned trailer reversing assist architecture of being discussed with reference to Fig. 1 vehicle 100 and trailer 110.Correspondingly, through using Spin Control input media (knob of for example, discussing 170) that the trailer direction information is provided with reference to Fig. 2.
If trailer reversing information signal indication request the variation of trailer driving path curvature the instruction of knob 170 (promptly through), executable operations 206 is used for confirming the variation of Vehicular turn information with trailer driving path curvature that request is provided.Otherwise executable operations 208 is used for confirming that Vehicular turn information is to keep the current rectilinear direction of advancing of trailer (that is, confirming like the longitudinal center's axis that passes through trailer).After this, executable operations 210 is used to provide the servo steering system of Vehicular turn information to vehicle, and executable operations 212 is used for confirming trailer reversing secondary status subsequently.Accomplish if confirm the trailer reversing, it is auxiliary that executable operations 214 is used to stop current instance trailer reversing.Otherwise method 200 returns 204 are used to receive trailer reversing information.Preferably; The operation that is used to receive the operation of trailer reversing information signal, the operation of confirming Vehicular turn information, the operation that Vehicular turn information is provided and definite trailer reversing secondary status is carried out (for example, at two-forty Digital Data Processing Equipment place) with the mode of keeping watch on.Correspondingly; The vehicle backing of trailer (is for example accomplished only if confirm to be used to move backward; Because vehicle successfully need go auxiliary etc. to begin another instance trailer reversing forward to position, the vehicle of expectation during the auxiliary instance of trailer reversing), this method 200 will continue to carry out and be used to receive trailer reversing information signal, confirms Vehicular turn information, the operation of Vehicular turn information and definite trailer reversing secondary status is provided.
The operation that be used to receive trailer reversing information signal with execution, confirm Vehicular turn information, Vehicular turn information and definite trailer reversing secondary status is provided concurrently, method 200 executable operations 216 are used to keep watch on trailer reversing information to determine whether to exist unacceptable trailer reversing situation.The example of this supervision includes but not limited to, assessment articulates that the angle articulates the angle threshold value to determine whether to exceed, the assessment back-up speed determines whether to exceed back-up speed threshold value, assessment Vehicular turn angle to determine whether to exceed Vehicular turn angle etc.If confirm to exist unacceptable trailer reversing situation, executable operations 218 is so that forbid the current driving path (for example stopping vehicle movement) of trailer, and it is auxiliary that executable operations 214 is used to finish current instance trailer reversing subsequently.This disclosed making forbid current trailer path before or combine with it, can carry out one or more actions and be used for providing feedback indication (for example alarm) to occur or just approaching unacceptable trailer angle situation to chaufeur.In one example, if this feedback makes unacceptable trailer angle situation before reaching critical condition, remedied, method can continue according to operation 204-212 trailer reversing additional function to be provided.Otherwise method can advance to operation 214 and be used to stop the auxiliary incident of current instance trailer reversing.The operation 214 that is used to stop the auxiliary incident of current instance trailer reversing with execution combines, but executable operations is used for moving to correct the bending situation that perhaps limits (for example, turn to and/or decelerating vehicles articulates the angle to avoid exceeding) of control vehicle.
With reference now to can passing through the data processing equipment processed instruction,, according to the disclosure of making at this be to be understood that be applicable to execution in method, program and/or the operation of the trailer reversing additional function of this announcement through having the non-instantaneous computer-readable medium actual storage (tangibly embodied) that above that configuration is used to carry out the instruction of this function.In a particular embodiment, instruct the method 200 that is used to carry out above-mentioned announcement and discussion for actual storage.This instruction can be through one or more data processing equipments from storage arrangement visit (RAM, ROM, virtual memory, hard drive memory etc.), from can perhaps from both, visiting through readable device (for example, floppy disk, CD, the magnetic tape cartridge etc.) visit of the driver element of data processing system.Correspondingly, the embodiment of the computer-readable medium of Sexual Themes comprises computer program (i.e. instruction) memory storage that formation configuration above that is used to carry out the trailer reversing additional function of the Sexual Themes according to the present invention that has of CD, hard drive, RAM or other types according to the present invention.
In aforementioned specific descriptions,, wherein show through the enforceable illustrative specific embodiment of theme of the present invention mode with reference to forming the accompanying drawing of the part of Sexual Themes of the present invention.These embodiment with and certain variations, enough described in detail so that those skilled in that art can the embodiment of the present invention Sexual Themes embodiment.Be to be understood that and can utilize other suitable embodiment, and can make the variation of logic, machinery, chemistry, electricity and can not deviate from Sexual Themes of the present invention spirit or scope.For fear of unnecessary details, this specification sheets has omitted some known information of those skilled in that art.Therefore, aforesaid detailed description is not intended to be limited in the particular form that this makes, and on the contrary, intention contains the spirit that can reasonably be included in claims and this distortion, modification and the equivalent within the scope.
Claims (21)
1. method comprises:
Receive the trailer angle information from the trailer angle detection device of the vehicle that is connected with trailer, wherein said trailer angle information produces according to the angle displacement between said vehicle and the said trailer;
Turn to input media to receive the trailer direction information from the trailer reversing of said vehicle; The reversing of wherein said trailer turns to input media to comprise can be in the zero curvature location of instruction and at the Spin Control input media with respect to the relative position between the scope that rotatablely moves of the said zero curvature location of instruction, and wherein from said Spin Control input media with respect to the mobility of the rotation amount of the said zero curvature location of instruction, said Spin Control input media and said Spin Control input media with respect at least one produces said trailer direction information the moving direction of the said zero curvature location of instruction; And
When through the said trailer of said vehicle backing, utilize the power steering system of the said vehicle of Vehicular turn information Control, wherein said Vehicular turn information produces according to said trailer angle information and said trailer direction information.
2. the method for claim 1, wherein control said power steering system and comprise:
When the said trailer of said vehicle backing, cause said power steering system to turn to said vehicle so that the curvature of the driving path that changes said trailer with respect to the rotation amount and the direction of the said zero curvature location of instruction according to said Spin Control input media;
Time point when the position of said Spin Control input media outside the said zero curvature location of instruction is back to the said zero curvature location of instruction cause said power steering system to turn to said vehicle so that said trailer by along through the definite cardinal principle straight line car-backing of the line of centers longitudinal axis of said trailer.
3. the method for claim 1 further comprises:
Indicate will take place between said vehicle and the said trailer to have at least one the output trailer angle displacement restriction status signals in the unacceptable trailer angle displacement between unacceptable trailer angle displacement or said vehicle and the said trailer in response to said trailer angle information.
4. method as claimed in claim 3; Wherein, In response to the said trailer angle displacement restriction of output status signals, said trailer reversing turns to input media that at least one in vision trailer angle displacement restriction status indicator, sense of hearing trailer angle displacement restriction status indicator and the sense of touch trailer angle displacement restriction status indicator is provided.
5. the method for claim 1, wherein during the position beyond said Spin Control input media is in the zero curvature location of instruction, said Vehicular turn information makes said trailer go along the driving path of instruction curvature.
6. method as claimed in claim 5, wherein:
First of the said scope that rotatablely moves relatively equals second of the said scope that rotatablely moves relatively basically; And
The curvature change of the said driving path of said trailer changes according to the said rotation amount of said Spin Control input media.
7. method as claimed in claim 6, wherein control said power steering system and comprise:
When the said trailer of said vehicle backing, cause said power steering system to turn to said vehicle so that the said curvature of the said driving path that changes said trailer with respect to the rotation amount and the direction of the said zero curvature location of instruction according to said rotation input media; And
Time point when returning the said zero curvature location of instruction when the position of said Spin Control input media beyond the said zero curvature location of instruction, cause said servo steering system to turn to said vehicle so that said trailer along the cardinal principle straight line car-backing of confirming by the central longitudinal axis of said trailer.
8. method as claimed in claim 6 further comprises:
To produce at least one the said trailer angle information that exists between unacceptable angle displacement or said vehicle and the said trailer in the unacceptable angle displacement between said vehicle and the said trailer in response to specifying, output trailer angle displacement limits status signals.
9. a trailer reversing that is connected to vehicle turns to input media, and said trailer reversing turns to input media to comprise:
The Spin Control element, it can place the zero curvature location of instruction and with respect to the position of the relative rotary motion scope of the said zero curvature location of instruction; And
Spin Control element moving sensing device; It is connected to said Spin Control element and is used for moving of the said Spin Control element of sensing, wherein said Spin Control element moving sensing device output according to said Spin Control input media with respect to the mobility of the rotation amount of the said zero curvature location of instruction, said Spin Control input media and said Spin Control input media signal with respect at least one generation of the moving direction of the said zero curvature location of instruction.
10. trailer as claimed in claim 9 reversing turns to input media, one below further comprising at least:
Optionally activate visual detector with the prompting that unacceptable trailer reversing situation is provided;
Optionally activate audible indicator with the prompting that said unacceptable trailer reversing situation is provided;
Optionally activate tactile indicators with the prompting that said unacceptable trailer reversing situation is provided.
11. trailer reversing as claimed in claim 9 turns to input media; Wherein when when the said trailer of said vehicle backing, the curvature of the driving path of the said trailer that the said Spin Control element moving sensing device signal of exporting during position beyond said Spin Control element is in the said zero curvature location of instruction goes corresponding to said trailer.
12. trailer reversing as claimed in claim 11 turns to input media, wherein
First of the said scope that rotatablely moves relatively equals second of the said scope that rotatablely moves relatively basically; And
The curvature change of the said driving path of said trailer changes according to the said rotation amount of said Spin Control input media.
13. trailer reversing as claimed in claim 12 turns to input media, wherein
Said Spin Control element biases to the said zero curvature location of instruction;
The said zero curvature location of instruction is in said relative rotatablely moving between the scope; And
The said Spin Control element of setovering increases towards the power of the said zero curvature location of instruction said rotation amount according to the said relatively zero curvature of said Spin Control element position.
14. trailer reversing as claimed in claim 9 turns to input media, wherein
Said Spin Control element biases to the said zero curvature location of instruction;
The said zero curvature location of instruction is in said relative rotatablely moving between the scope; And
The said Spin Control element of setovering increases towards the power of the said zero curvature location of instruction said rotation amount according to the said relatively zero curvature of said Spin Control element position.
15. trailer reversing as claimed in claim 9 turns to input media, wherein
In said Spin Control element and the integrated entering meter panel of motor vehicle of said Spin Control element moving sensing device.
16. a vehicle comprises:
Trailer angle detection device, its configuration are used to export according to said vehicle and are connected to the signal that the angle between the trailer of said vehicle produces;
The trailer reversing turns to input media; It comprises knob and is connected to the knob moving sensing device that moves that said knob is used for the said knob of sensing; Wherein said knob biases to the relative stop position that rotatablely moves between the scope, and the output of wherein said knob moving sensing device according to said knob with respect to the mobility of the rotation amount of said stop position, said knob and said knob signal with respect at least one generation of the moving direction of said stop position; And
Servo steering system; It is connected to trailer angle detection device and the reversing of said trailer turns to input media, wherein said servo steering system to comprise that the configuration of control module structure is used for turning to the input media signal to produce the power steering system control information according to said trailer angle detection device signal and said reversing.
17. like the said vehicle of claim 16, the reversing of wherein said trailer turn to input media further comprise following at least one:
Optionally activate visual detector with the prompting that unacceptable trailer reversing situation is provided;
Optionally activate audible indicator with the prompting that said unacceptable trailer reversing situation is provided;
Optionally activate tactile indicators with the prompting that said unacceptable trailer reversing situation is provided.
18. said vehicle like claim 16; Wherein when when the said trailer of said vehicle backing, the curvature of the driving path of the said trailer that the said knob moving sensing device signal of exporting during position beyond said knob is in said stop position goes corresponding to said trailer.
19. like the said vehicle of claim 16, wherein
First of the said scope that rotatablely moves relatively equals second of the said scope that rotatablely moves relatively basically; And
The curvature change of the said driving path of said trailer changes according to the said rotation amount of said knob.
20., wherein increase according to the rotation amount of the said relatively stop position of said knob towards the setover power of said knob of said stop position like the said vehicle of claim 16.
21. vehicle as claimed in claim 16 wherein increases according to the rotation amount of the said relatively stop position of said knob towards the setover power of said knob of said stop position.
Applications Claiming Priority (4)
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| US61/477,136 | 2011-04-19 | ||
| US13/336,042 | 2011-12-23 | ||
| US13/336,042 US8972109B2 (en) | 2011-04-19 | 2011-12-23 | Rotatable driver interface for trailer backup assist |
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| CN102765381B CN102765381B (en) | 2016-06-01 |
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| CN201210067159.6A Active CN102765381B (en) | 2011-04-19 | 2012-03-14 | Rotatable driver interface for backing towing vehicle auxiliary |
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| CN (1) | CN102765381B (en) |
| DE (1) | DE102012205828A1 (en) |
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Also Published As
| Publication number | Publication date |
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| US20120271514A1 (en) | 2012-10-25 |
| US8972109B2 (en) | 2015-03-03 |
| US9809250B2 (en) | 2017-11-07 |
| DE102012205828A1 (en) | 2013-06-27 |
| CN102765381B (en) | 2016-06-01 |
| US20150134183A1 (en) | 2015-05-14 |
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